GAE dev and test versions added. Updated README

README.md

@@ -15,6 +15,7 @@ Relevant Papers:
 10. Rainbow with Quantile Regression [[code]](https://github.com/qfettes/DeepRL-Tutorials/blob/master/10.Quantile-Rainbow.ipynb)
 11. Deep Recurrent Q-Learning for Partially Observable MDPs [[Publication]](https://arxiv.org/abs/1507.06527)[[code]](https://github.com/qfettes/DeepRL-Tutorials/blob/master/11.DRQN.ipynb)
 12. Advantage Actor Critic (A2C) [[Publication1]](https://arxiv.org/abs/1602.01783)[[Publication2]](https://blog.openai.com/baselines-acktr-a2c/)[[code]](https://github.com/qfettes/DeepRL-Tutorials/blob/master/12.A2C.ipynb)
+13. High-Dimensional Continuous Control Using Generalized Advantage Estimation [[Publication]](https://arxiv.org/abs/1506.02438)[[code]](https://github.com/qfettes/DeepRL-Tutorials/blob/master/13.GAE.ipynb)
 
 
 Requirements: 

a2c_devel.py

@@ -41,6 +41,8 @@
 #a2c control
 config.num_agents=16
 config.rollout=5
+config.USE_GAE = True
+config.gae_tau = 0.95
 
 #misc agent variables
 config.GAMMA=0.99

agents/A2C.py

@@ -49,7 +49,7 @@ def __init__(self, static_policy=False, env=None, config=None):
             self.model.train()
 
         self.rollouts = RolloutStorage(self.rollout, self.num_agents,
-            self.num_feats, self.env.action_space, self.device)
+            self.num_feats, self.env.action_space, self.device, config.USE_GAE, config.gae_tau)
 
         self.value_losses = []
         self.entropy_losses = []

utils/RolloutStorage.py

@@ -1,7 +1,7 @@
 import torch
 
 class RolloutStorage(object):
-    def __init__(self, num_steps, num_processes, obs_shape, action_space, device):
+    def __init__(self, num_steps, num_processes, obs_shape, action_space, device, USE_GAE=True, gae_tau=0.95):
         self.observations = torch.zeros(num_steps + 1, num_processes, *obs_shape).to(device)
         self.rewards = torch.zeros(num_steps, num_processes, 1).to(device)
         self.value_preds = torch.zeros(num_steps + 1, num_processes, 1).to(device)
@@ -12,6 +12,8 @@ def __init__(self, num_steps, num_processes, obs_shape, action_space, device):
 
         self.num_steps = num_steps
         self.step = 0
+        self.gae = USE_GAE
+        self.gae_tau = gae_tau
 
     def insert(self, current_obs, action, action_log_prob, value_pred, reward, mask):
         self.observations[self.step + 1].copy_(current_obs)
@@ -28,7 +30,15 @@ def after_update(self):
         self.masks[0].copy_(self.masks[-1])
 
     def compute_returns(self, next_value, gamma):
-        self.returns[-1] = next_value
-        for step in reversed(range(self.rewards.size(0))):
-            self.returns[step] = self.returns[step + 1] * \
-                gamma * self.masks[step + 1] + self.rewards[step]
+        if self.gae:
+            self.value_preds[-1] = next_value
+            gae = 0
+            for step in reversed(range(self.rewards.size(0))):
+                delta = self.rewards[step] + gamma * self.value_preds[step + 1] * self.masks[step + 1] - self.value_preds[step]
+                gae = delta + gamma * self.gae_tau * self.masks[step + 1] * gae
+                self.returns[step] = gae + self.value_preds[step]
+        else:
+            self.returns[-1] = next_value
+            for step in reversed(range(self.rewards.size(0))):
+                self.returns[step] = self.returns[step + 1] * \
+                    gamma * self.masks[step + 1] + self.rewards[step]

utils/hyperparameters.py

@@ -12,6 +12,8 @@ def __init__(self):
         self.value_loss_weight = 0.5
         self.entropy_loss_weight = 0.001
         self.grad_norm_max = 0.5
+        self.USE_GAE=True
+        self.gae_tau = 0.95
 
         #algorithm control
         self.USE_NOISY_NETS=False